| contributor author | Liu, Xiaofei | |
| contributor author | Wan, Bo | |
| contributor author | Liu, Yu | |
| contributor author | Wang, Yu | |
| contributor author | Zhao, Yongsheng | |
| date accessioned | 2024-12-24T19:08:33Z | |
| date available | 2024-12-24T19:08:33Z | |
| date copyright | 2/27/2024 12:00:00 AM | |
| date issued | 2024 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_16_10_101007.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4303362 | |
| description abstract | This paper focuses on the singularity of actuation coordination of redundantly actuated parallel manipulators and proposes a series of novel indices to evaluate the actuation coordination. The singularity is analyzed based on the coordinated dynamics model and divided into two categories: input singularity and output singularity. Influences of the singularity on the control performance of redundantly actuated parallel manipulators are studied with mechanisms 2RPU + 2UPR + RPR and 3RPR. Local and global performance indices of redundantly actuated parallel manipulators with actuation coordination are put forward, and the dimension optimization method considering the proposed indices is studied based on mechanism 6RPS. The research of this article possesses good reference significance for the performance analysis and control application of redundantly actuated parallel manipulators. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Singularity Analysis of Actuation Coordination and New Indices for Optimal Design of Redundantly Actuated Parallel Manipulators | |
| type | Journal Paper | |
| journal volume | 16 | |
| journal issue | 10 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4064574 | |
| journal fristpage | 101007-1 | |
| journal lastpage | 101007-11 | |
| page | 11 | |
| tree | Journal of Mechanisms and Robotics:;2024:;volume( 016 ):;issue: 010 | |
| contenttype | Fulltext | |
